Haptic actuator apparatuses and methods thereof

ABSTRACT

A haptic actuator apparatus and a method of making the same include an ultrasonically vibrating motor and its housing. The housing includes a guide structure coupled to the ultrasonically vibrating motor and at least one spring. The guide structure defines at least one path of motion of the ultrasonically vibrating motor. The at least one spring delimits the at least one path and generates human-detectable vibrations in response to an impact with the ultrasonically vibrating motor.

FIELD

This technology relates to haptic actuator apparatuses and methodsthereof.

BACKGROUND

Mobile phones and other hand-held electronic devices, for example, gamecontrollers require a vibration source that is detectable by the senseof touch of the user. These vibrations signal the user of events withoutcreating significant audible sound. For example, such events mightinclude an incoming phone call, incoming text message, the activation ofa button on a flat screen display, turbulence of a virtual aeroplane ina computer video game, and many other functions. The vibration sourcemust be sufficiently strong to be felt by a person holding the device.These sources are most generally referred to as vibration motors orhaptic actuators.

One common type of vibration motor is an eccentric rotating mass (ERM)motor with a rotating shaft and an unbalanced mass attached to the shaftthat generates oscillating centripetal force perpendicular to the axisof rotation. More than one billion ERM motors are manufactured eachyear; the typical rotation speed is 100 to 300 Hz, and the typicalcentripetal force is 0.1 to 1 N.

Exemplary electromagnetic ERM motors include the Model NRS-2574iproduced by SANYO SEIMITSU CO., LTD. and the Model DMJBRK30X produced bySAMSUNG ELECTRO-MECHANICS CO., LTD. Some versions are a tubular type ERMmotors, and some are disk type ERM motors. For example, some of thesmallest tubular ERM motors are about 4 mm in diameter and 6 mm inlength, with a shaft and unbalanced Tungsten mass extending about 4 mmfrom one end of the motor. The smallest disk type ERM motors are 10 mmin diameter and 3 mm thick, with the Tungsten mass rotating inside themotor housing and the rotation axis parallel to the centerline of the 10mm diameter. For both types of motors, a torque is generated to rotatethe shaft using conventional direct current (DC) motor designs thatinclude copper coils, iron cores, permanent magnets, and coil switchingusing brushes and armature. Tungsten is used for the mass because itsdensity is more than twice the density of steel. For a tubular motor, atypical Tungsten mass is 0.4 grams with a center of gravity offset 1 mmfrom the centerline of shaft rotation. For this example, when the massrotates at say 200 Hz (1,256 Rad/sec), the generated centripetal forceF_(c)=Mass×(Angular Velocity)²×(Radius of Offset)=0.0004 kg×(1256Rad/sec)²×0.001 M=0.63 N. This dynamic force is sufficient to acceleratethe entire mobile phone handset and create vibrations that are perceivedby the user.

Another type of vibration motor is a Linear Resonant Actuator (LRA) inwhich a Tungsten mass is suspended by spring-guide system that allowsmovement along a substantially linear path, and the spring force acts tokeep the mass in the center of the path. An electromagnetic coil andmagnet generate Lorentz forces that move the mass back and forth alongthe path at a frequency equal to the resonant frequency determined bythe mass and stiffness of the spring. By operating at resonance, thisactuator generates a large vibration amplitude using a relatively smallpower input to the electromagnetic coil. An example of an LRA motor isthe Model DMJBRN1036AA device from SAMSUNG ELECTRO-MECHANICS CO., LTD.

A limitation of ERM and LRA electromagnetic vibration motors is theyproduce magnetic fields and are constructed of ferromagnetic andconductive materials. The magnetic interference produced by these motorsinterferes with the operation of other devices in mobile phones (e.g., acompass). This is especially problematic as mobile phone handsets addadditional devices and also continue to become smaller and moreintegrated. Electromagnetic motors are also made from conductivematerials that are not transparent to radio frequencies (RF) and cannotbe located near a radio antenna of a wireless communication device.

A further limitation of the electromagnetic ERM and LRA haptic actuatorsis the need for a large percentage of the motor structure to bestationary (e.g., either the windings or the magnet must be stationary).The stationary mass does not contribute to the acceleration forcegenerated by the haptic actuator and increases the total size of thedevice.

Ceramic motors, such as piezoelectric ultrasonic motors, do not generatemagnetic fields, can be constructed from non-ferromagnetic materials,and can also be made almost entirely from non-conductive materials thatare substantially RF transparent. A non-magnetic, RF transparent motorhas many advantages for integration in highly miniaturized mobilephones.

SUMMARY

A haptic actuator apparatus includes an ultrasonically vibrating motorand housing. The housing includes a guide structure coupled to theultrasonically vibrating motor and at least one spring. The guidestructure defines at least one path of motion of the ultrasonicallyvibrating motor. The spring delimits the path and generateshuman-detectable vibrations in response to an impact with theultrasonically vibrating motor.

A method for making a haptic actuator apparatus includes providing anultrasonically vibrating motor and housing the ultrasonically vibratingmotor. The housing includes coupling a guide structure to theultrasonically vibrating motor. The guide structure is configured todefine at least one path of motion of the ultrasonically vibratingmotor. The housing also includes arranging at least one spring todelimit the at least one path and to generate human-detectablevibrations in response to an impact with the ultrasonically vibratingmotor.

This technology offers many advantages including providing a hapticactuator apparatus that generates more haptic force in a smaller volumethan prior haptic actuator devices. Additionally, this technologyprovides haptic actuator devices that do not produce any magneticinterference with the operation of the devices they are incorporated in.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exemplary haptic actuator apparatus;

FIG. 2A is an isometric view of the exemplary haptic actuator;

FIG. 2B is a front view of an exemplary haptic actuator;

FIG. 2C is a side view of the exemplary haptic actuator;

FIG. 3A is a back view of a housing of the exemplary haptic actuator ofFIG. 2A;

FIG. 3B is a top view of the housing of the exemplary haptic actuator ofFIG. 2A;

FIG. 3C is a front view of the housing of the exemplary haptic actuatorof FIG. 2A;

FIG. 3D is a side view of the housing of the exemplary haptic actuatorof FIG. 2A;

FIG. 3E is an isometric view of the housing of the exemplary hapticactuator of FIG. 2A;

FIG. 4A is a top view of an ultrasonically vibrating motor of anexemplary haptic actuator of FIG. 2A;

FIG. 4B is a front view of the ultrasonically vibrating motor of theexemplary haptic actuator of FIG. 2A;

FIG. 4C is a bottom view of the ultrasonically vibrating motor of theexemplary haptic actuator of FIG. 2A;

FIG. 4D is a cross section view of the ultrasonically vibrating motor ofthe exemplary haptic actuator of FIG. 2A;

FIG. 4E is a side view of the ultrasonically vibrating motor of theexemplary haptic actuator of FIG. 2A;

FIG. 4F is an isometric view of the ultrasonically vibrating motor ofthe exemplary haptic actuator of FIG. 2A;

FIG. 5A is a front view of a static ultrasonically vibrating motor bodyin FIG. 4A;

FIG. 5B is a front view of the ultrasonically vibrating motor body shownin FIG. 4A in an axial mode;

FIG. 5C is a front view of the ultrasonically vibrating motor body shownin FIG. 4A in a first clamping mode;

FIG. 5D is a front view of the ultrasonically vibrating motor body shownin FIG. 4A in a second clamping mode;

FIG. 6A is a diagram illustrating an elongation of a single-layerpiezoelectric actuator when a voltage is applied;

FIG. 6B is a diagram illustrating an elongation of a piezoelectricmultilayer actuator when a voltage is applied;

FIG. 7A is a partial graph and partial block diagram which illustratesexemplary electrical drive signals (half-bridge drive) for forwardoperation of an ultrasonically vibrating motor;

FIG. 7B are diagrams illustrating a trajectory of four frictionalcontact pads during forward operation of an ultrasonically vibratingmotor in response to the drive signals shown in FIGS. 7A and 7E;

FIG. 7C is a partial graph and partial block diagram which illustratesexemplary electrical drive signals (half-bridge drive) for reverseoperation of an ultrasonically vibrating motor;

FIG. 7D are diagrams illustrating a trajectory of four frictionalcontact pads during reverse operation of an ultrasonically vibratingmotor in response to the drive signals shown in FIGS. 7C and 7F;

FIG. 7E is a partial graph and partial block diagram which illustratesexemplary electrical drive signals (full-bridge drive) for forwardoperation of an ultrasonically vibrating motor;

FIG. 7F is a partial graph and partial block diagram which illustratesexemplary electrical drive signals (full-bridge drive) for reverseoperation of an ultrasonically vibrating motor;

FIG. 8A is a diagram illustrating an exemplary intended haptic velocityprofile as a function of position for maximizing bouncing frequency;

FIG. 8B is a graph of an exemplary command signal as a function of timefor maximizing bouncing haptic accelerations and frequencies;

FIG. 9A is a graph of haptic displacement as a function of time for anexemplary ultrasonically vibrating motor with an intended hapticvelocity profile as shown in FIG. 8A and a command signal as shown inFIG. 8B;

FIG. 9B is a graph of haptic velocity as a function of time for theultrasonically vibrating motor associated with FIG. 9A;

FIG. 9C is a graph of haptic acceleration as a function of time for theultrasonically vibrating motor associated with FIG. 9A;

FIG. 10A is a diagram illustrating an exemplary intended haptic velocityprofile as a function of position for variable bouncing frequency;

FIG. 10B is a graph of an exemplary command signal as a function oftime, generating haptic accelerations and frequencies, for variablebouncing frequency;

FIG. 11A is a graph of haptic displacement as a function of time for anexemplary ultrasonically vibrating motor with an intended hapticvelocity profile as shown in FIG. 10A and a command signal as shown inFIG. 10B;

FIG. 11B is a graph of haptic velocity as a function of time for theultrasonically vibrating motor associated with FIG. 11A;

FIG. 11C is a graph of haptic acceleration as a function of time for theultrasonically vibrating motor associated with FIG. 11A;

FIG. 12A is a graph of haptic displacement as a function of time for theultrasonically vibrating motor associated with FIG. 9A, except with aten times smaller drive force between the contact pads and rails;

FIG. 12B is a graph of haptic velocity as a function of time for theultrasonically vibrating motor associated with FIG. 12A;

FIG. 12C is a graph of haptic acceleration as a function of time for theultrasonically vibrating motor associated with FIG. 12A;

FIG. 13A is an exemplary method for driving the haptic actuatorapparatus shown in FIG. 1, where an accelerometer is used; and

FIG. 13B is an exemplary method for driving the haptic actuatorapparatus shown in FIG. 1, where a positional encoder is used.

DETAILED DESCRIPTION

An exemplary haptic actuator apparatus 10 is illustrated in FIG. 1. Theexemplary haptic actuator apparatus 10 includes a controller 20, adriver 30, a sensor 40, an ultrasonically vibrating motor 50, and ahousing 60, although the apparatus could comprise other numbers andtypes of systems, devices, and components in other configurations. Thistechnology offers a number of advantages including providing a hapticactuator apparatus that generates more haptic force in a smaller volumethan prior haptic actuator devices.

Referring more specifically to FIG. 1, the controller 20 includes aprocessor 70, a memory 72, a user input device 74, a display 76, acommunication interface system 78, and a pulse width modulation (PWM)generator 80, which are coupled together by a bus or other link 82,although other numbers and types of systems, devices, and components inother configurations may be used, and the PWM generator system 80 may beseparate from the controller 20.

The processor 70 may execute a program of stored instructions for one ormore aspects of the present disclosure as described herein, includingcontrolling velocity and direction of the ultrasonically vibrating motor50

The memory 72 may store these programmed instructions for one or moreaspects of the present disclosure as described herein, although some orall of the programmed instructions may be stored and/or executedelsewhere. A variety of different types of memory storage devices, suchas a random access memory (RAM) or a read only memory (ROM) in thesystem or a floppy disk, hard disk, CD ROM, DVD ROM, or other computerreadable medium which is read from and/or written to by a magnetic,optical, or other reading and/or writing system that is coupled to theprocessor 70 can be used for the memory 72.

The user input device 74 may be used to input selections, such as toinput a drive mode selection, a selection of a percentage of pulsewidth, a selection of a percentage of drive voltage, or a desired outputfrequency of the ultrasonically vibrating motor 50, although the userinput device 74 may be used to input other types of data and actions andinteract with other elements. The user input device 74 may include acomputer keyboard and a computer mouse, although other types and numbersof user input devices can be used.

The display 76 may be used to show a graphical user interface forinputting requests and viewing a resulting response, although othertypes and amounts of information can be displayed in other manners. Thedisplay 76 may include a computer or mobile communications devicedisplay screen, such as a CRT or LCD screen, although other types andnumbers of displays could be used. For example, in a miniaturized hapticactuator apparatus, the display 76 may be separate and used remotely.

The communication interface system 78 may be used to operatively coupleand communicate between the controller 20 and the driver 30 along withthe ultrasonically vibrating motor 50 via one or more communicationsnetworks, although other types and numbers of connections,configurations, and communication manners can be used.

The PWM generator 80 may generate one or more driving signals which areprovided to driver 30 in response to instructions from the controller20. The PWM generator 80 may generate the one or more driving signals asdescribed by way of example only in U.S. Patent Application Pub. No.2011/0018390, entitled “Methods for Controlling Velocity of at LeastPartially Resonant Actuators Systems and Systems Thereof,” which ishereby incorporated by reference in its entirety, and will not bedescribed in detail herein.

Although an embodiment of the controller 20 coupled to theultrasonically vibrating motor 50 and housing 60 is described andillustrated herein, the controller may be implemented on any suitablecomputer system or device or an application specific integrated circuitor other programmable entity. It is to be understood that the controllerof the embodiments described herein is for exemplary purposes, as manyvariations of the specific hardware and software used to implement theembodiments are possible, as will be appreciated by those skilled in therelevant art(s).

The driver 30 may comprise a half-bridge circuit or a full-bridgecircuit, although other types of drivers could be used, such as a hybriddriver. By way of example only, a more detailed description of thesetypes of drivers and related methods may be found in U.S. PatentApplication Pub. No. 2010/0039715, entitled “Reduced-Voltage, LinearMotor Systems and Methods Thereof,” which is hereby incorporated byreference in its entirety, and thus will not be described in detailherein. The driver 30 may have an input coupled to the PWM generator 80to receive the one or more driving signals and an output coupled topiezoelectric members of the ultrasonically vibrating motor 50 toprovide the one or more driving signals. The one or more driving signalsmay, for example, cause the ultrasonically vibrating motor 50 to move atan output frequency designated via the user input device 74 along a pathdefined by a guide structure within the housing 60.

Referring to FIGS. 1 and 2A, the sensor 40 is used by the controller 20to monitor the motion of the ultrasonically vibrating motor 50. Forexample, the sensor 40 may indicate to the controller 20 when theultrasonically vibrating motor 50 has reached an end of the path.Consequently, processor 20 may command driver 30 to reverse direction.Controller 20 may further adjust the timing of the reversal to achieve adesired output frequency. Haptic actuator 12 integrates motor 50,housing 60 and sensor 40. For simplicity, haptic actuator 12 is shown inFIGS. 2A-2C without driver 30 or controller 20. However, it is alsopossible to integrate driver 30 and controller 20 within haptic actuator12 with a very small volume increase using integrated microelectroniccircuits. Referring to FIGS. 1, 2A-2C, and 3A-3D, the sensor 40 may bemounted on the housing 60. Sensor 40 may be a position encoder to detectthe position of the ultrasonically vibrating motor 50. Alternatively,sensor 40 may be an accelerometer to detect the acceleration of thehousing 60 or a base device (which may be mounted on back mount plate201 of housing 60) that needs the haptic/vibration output.

Referring to FIGS. 1 and 4A-4F, an example of the ultrasonicallyvibrating motor (or moving mass) 50 of an exemplary haptic actuatorapparatus 10 is shown and described. More specifically, referring toFIG. 4B where a front view of the ultrasonically vibrating motor 50 isillustrated, the motor 50 may comprise several major components. Centerpiece 450 and two frames 420 a and 420 b may be connected by two axialactuators 415 a and 415 b, respectively. The two frames and the centerpiece may be made of strong materials, such as steel.

Referring to FIG. 4B, the two frames 420 a and 420 b may have fork-likeopenings at the ends, and two clamping actuators 405 a and 405 b mayconnect the two branches of the fork-like openings, respectively. Insome embodiments, these axial and clamping actuators are piezoelectrictype and thus generate strain when voltages are applied to them. Thesepiezoelectric actuators of the ultrasonically vibrating motor 50 may bemade of multi-layer actuators in order to lower the operating voltage.In some of these embodiments, these actuators are ring-shaped and arecompression-preloaded to elongate the actuator life as well as toincrease performance. Shown in more detail in FIG. 4D is a cross sectionview of the ultrasonically vibrating motor 50. One clamping actuator 405a may be compression-preloaded by the frame 420 a using a screw 430 aand a nut 431 a. The other clamping actuator 405 b may becompression-preloaded by the frame 420 b by a screw 430 b and a nut 431b. The two axial actuators 415 a and 415 b may be compression-preloadedby the two frames 420 a and 420 b and the center piece 450 using a stud436 and two Allen-nuts 435 a and 435 b.

Referring to FIGS. 4B and 4D, two contact pads 440 a and 440 c may beinserted at the top and bottom ends of the two branches of frame 420 a.Two contact pads 440 b and 440 d may be inserted at the top and bottomends of the two branches of frame 420 b. As will be illustrated later,these four contact pads 440 a-440 d may be used for frictional drivepurposes and may be optimized for frictional coefficients as well aswear life. They may be made of ceramic, such as sapphire and ruby, ormetal. In this embodiment, they are shown as spherical shapes. However,they can be any suitable shape.

As shown in FIG. 4F, the center piece 450 may have two pegs or pins 451and 452 solidly connected to it on the top and bottom, respectively. Insome embodiments, the pegs or pins 451-452 may be cylindrical. In someof these embodiments, the pegs or pins 451-452 may have the samediameter. In other embodiments, the pegs or pins 451-452 may be of anysuitable shape or size.

Referring to FIGS. 1-3, an example of the housing 60 in which theultrasonically vibrating motor 50 runs is illustrated. Referring toFIGS. 3A, 3C, and 3E, the housing 60 may have a back mount plate 201, onwhich two mounting holes 202 and 203 are shown. These mounting holes202-203 may be used to fix the housing 60 on a base device, such as acell phone case, which needs a haptic/vibration output. Referring toFIGS. 2A, 2C, 3A, and 3E, the housing 60 may have two rails, e.g., a toprail 205 and a bottom rail 206, on which the frictional pads 440 a-440 dmay run on. As shown in FIGS. 3D and 3E, the rails 205 and 206 may havegrooves 215 and 216, respectively, so that the frictional pads may belinearly guided. Although two mounting holes 202-203 and two rails205-206 are shown, any suitable number may be utilized.

As shown in FIGS. 2A, 2C, and 3E, the frictional pads 440 a-440 d may bepreloaded in a vertical direction by groove 215 on rail 205 and bygroove 216 on rail 206. The preloaded force may be provided by the basedevice and, in some embodiments, by flexural springs 210 a and 210 b.Flexural springs 210 a and 210 b may be used to finely control thepreload force. The preload force may greatly affect the motorperformance; too little preload force may cause very low drive force,while too much preload force may dampen the motor motion too much andgenerate no velocity. Although two flexural springs are shown, anysuitable number may be utilized.

As shown in FIG. 3E, housing 60 may include holes 230 and 231 on rails205 and 206, respectively. While holes 230 and 231 are shown to beoblong in shape, each of these holes may be rectangular or any suitableshape. Housing 60 may also include two stopper spring pairs 220 a-220 band 220 c-220 d. Stopper spring pairs 220 a-220 b and 220 c-220 d may,for example, be solidly bonded to the back mount plate 201 of thehousing 60. Furthermore, as shown in FIG. 2A, pegs 451 and 452 in motorbody 50, pointing out through holes 230 and 231, respectively, may betrapped by these two stopper spring pairs 220 a-220 b and 220 c-220 d,respectively. When the ultrasonically vibrating motor 50 moves along alinear direction defined by the grooves 215 and 216, the free travel(e.g., without deflecting stopper springs 220 a-220 d) may be limited bythe distance between the stopper springs 220 a and 220 b minus thediameter of the pegs 451-452. The distance between the stopper springs220 c and 220 d may be configured to be the same as the distance betweenstopper springs 220 a and 220 b. Although four stopper springs areshown, any suitable number may be utilized. Alternatively oradditionally, one or more stopper springs may be coupled to rail 205 orrail 206 or any combination thereof.

The operation of the ultrasonically vibrating motor 50 (e.g., by driver30) may be understood by referring to FIGS. 5A-5D. FIG. 5A is a frontview of a static ultrasonically vibrating motor 50. FIG. 5B is the modeshape of the ultrasonically vibrating motor 50 in its axial mode, whichmay be excited by applying the same voltage signals to axial actuators415 a and 415 b. FIG. 5C is the mode shape of the ultrasonicallyvibrating motor 50 in its first clamping mode, which may be excited byapplying a voltage signal to clamping actuator 405 a. FIG. 5D is themode shape of the ultrasonically vibrating motor 50 in its secondclamping mode, which may be excited by applying a voltage signal toclamping actuator 405 b. The ultrasonically vibrating motor 50 may bedesigned so that the resonant frequencies for all these three modes aresubstantially the same and are substantially independent from each otherwith low coupling.

The operation of ultrasonically vibrating motor 50 in exemplary hapticactuator apparatus 10 may be further understood by referring to FIG. 6A,which describes the basic piezoelectric effect. For the axial andclamping actuators, each actuator 680 may have a positive electrode 681(labeled “+”) and a negative electrode 682 (labeled “−”). The actuatorlength at free state may be L₀. Applying a positive electrical signal +Vto the “+” electrode of actuator 680 may make the actuator expand inlength. The actuator 680 a, with the voltage applied, may have a lengthL>L₀. The change in length (L−L₀) may be roughly proportional to theapplied voltage V. Similarly, actuator 680 may shrink in length if anegative voltage is applied at the “+” electrode 681.

In some embodiments, these piezoelectric axial and clamping actuatorsmay be further made so that they have multiple internal electrodes asshown in FIG. 6B. Actuator 690 may have several positive internalelectrodes 691 b, which may be connected to a common side externalelectrode 691 a. Common side external electrode 691 a may then connectto the “+” external electrode 691. Actuator 690 may have severalnegative internal electrodes 692 b, which may be connected to a commonside external electrode 692 a. Common side external electrode 692 a maythen connect to the “−” external electrode 692. The actuator length atfree state is L₀. Applying positive electrical signal +V to the “+”electrode of actuator 690 may make the actuator expand in length. Theactuator 690 a, with the voltage applied, may have a length L_(m)>L₀.The change in length (L_(m)−L₀) may be roughly proportional to theapplied voltage V and the number of layers. Similarly, actuator 690 mayshrink in length if a negative voltage is applied at the “+” externalelectrode 691. Thus, the multilayer piezoelectric actuators can producemore strain at the same applied voltage, compared with a regular (singlelayer) piezoelectric actuator.

For convenience of explanation, in the following embodiments, axial andclamping actuators are illustrated as single-layer. However, it isunderstood that the axial and clamping actuators here may be eithersingle layer or multilayer. Further explanation of how piezoelectricceramic material may be used to generate ultrasonic vibrations isdescribed in detail in the above-referenced U.S. Patent Application Pub.No. 2010/0039715, and will not be described in detail herein, other thanto note that such ultrasonic vibrations may include all types of motionincluding, but not limited to, human-detectable vibrations or impulses.

The operation of ultrasonically vibrating motor 50 in exemplary hapticactuator apparatus 10 may be further understood by referring to FIGS.7A-7D. As shown in FIG. 7A, a periodic electrical signal 711 may beapplied to clamping actuator 405 a at the positive electrode 701 with afrequency that may be substantially equal to the resonant frequencies ofthe axial and clamping vibration modes. The periodic electrical signal711 may also be applied to clamping actuator 405 b in a reversed way,e.g., at negative electrode 704. Although electrical signal 711 isdepicted as a periodic square-wave signal, any suitable periodic signalmay be utilized, e.g., a sinusoidal signal. A similar periodicelectrical signal 712 may be applied to axial actuators 415 a and 415 bat the positive electrodes 705 and 707, but with a −90° phase shiftrelative to signal 711. The negative electrode 702 of clamping actuator405 a, the positive electrode 703 of clamping actuator 405 b, and thenegative electrodes 706 and 708 of the axial actuators 415 a and 415 bmay be connected to ground. Referring to FIG. 7B, correspondingtrajectories for frictional pads 440 a-440 d are shown as 715 a-715 d,respectively. The trajectories are shown as circular shape, but, in someembodiments, elliptical shapes may be more common. In some embodiments,arrows shown for 715 a-715 d may indicate not only the directions of thetrajectories, but also a snapshot of instantaneous positions of thefrictional pads 440 a-440 d relative to each other. Based on thedirection of these trajectories, the ultrasonically vibrating motor 50may move to the right (relative to the housing 60), or to the motorforward operation direction.

In FIG. 7C, a periodic electrical signal 721 may be applied to clampingactuator 405 a at the positive electrode 701 with a frequency that maybe substantially equal to the resonant frequencies of the axial andclamping vibration modes. The periodic electrical signal 721 may also beapplied to clamping actuator 405 b in a reversed way, e.g., at negativeelectrode 704. Although electrical signal 721 is depicted as a periodicsquare-wave signal, any suitable periodic signal may be utilized, e.g.,a sinusoidal signal. A similar periodic electrical signal 722 may beapplied to axial actuators 415 a and 415 b at the positive electrodes705 and 707, but with a +90° phase shift relative to signal 721. Thenegative electrode 702 of clamping actuator 405 a, the positiveelectrode 703 of clamping actuator 405 b, and the negative electrodes706 and 708 of the axial actuators 415 a and 415 b may be connected toground. Referring to FIG. 7D, corresponding trajectories for thefrictional pads 440 a-440 d are shown as 725 a-725 d, respectively. Thetrajectories are shown as circular shape, but, in some embodiments,elliptical shapes may be more common. In some embodiments, arrows shownfor 725 a-725 d may indicate not only the directions of thetrajectories, but also a snapshot or an instantaneous position of thefrictional pads 440 a-440 d relative to each other. Based on thedirection of these trajectories, the motor body 50 may move to the left(relative to the housing 60), or to the motor reverse operationdirection.

The previously described electrical driving signals are half bridgedrive methods. In some embodiments, full bridge drive methods (FIGS.7E-7F), which use only about half the source voltage of that of the halfbridge drive methods, may be similarly implemented to achieve the same(or a similar) effect. Specifically, comparing FIG. 7E with FIG. 7A formotor forward operation, or comparing FIG. 7F with FIG. 7C for motorreverse operation, a full bridge drive may be implemented when thenegative electrode 702 of clamping actuator 405 a and the positiveelectrode 703 of clamping actuator 405 b are (instead of connected toground) driven by a signal 711 a which is a inverted signal of 711; andthe negative electrodes 706 and 708 of the axial actuators 415 a and 415b are (instead of connected to ground) driven by a signal 712 a which isa inverted signal of 712.

EXAMPLE I Maximizing Haptic Bouncing Frequency [Large Drive Force]

One application of the haptic actuator apparatus 10 in FIG. 1 includesproviding a flat haptic acceleration response to a base device (e.g., acell-phone that the vibration actuator is mounted on) over a relativelywide haptic frequency range (e.g., 100 Hz to 300 Hz). A flat base devicehaptic acceleration response may be equivalent to a flat motoracceleration with only a constant factor difference, e.g., the massratio between the ultrasonically vibrating motor or moving mass 50 andthe base device. Thus, in the following, haptic displacement, velocity,and acceleration of the ultrasonically vibrating motor 50 are studied.In order to have a flat maximum haptic acceleration response, thevelocity to hit the springs may be constant. This may be achieved whenvoltages applied to the actuators are fixed. Therefore, for a fixedmaximum velocity v_(max), and a targeted constant maximum accelerationof the ultrasonically vibrating motor 50, the spring constant of thestopper springs 220 a-220 d may be determined. The ultrasonicallyvibrating motor mass may be assumed constant, and the ultrasonicallyvibrating motor 50 may still be driven to continue compressing thestopper springs after hitting them. The maximum haptic acceleration mayoccur when the ultrasonically vibrating motor 50 compresses the springsto the maximum deflection and the velocity is zero. To target a certainhaptic frequency or period of this bouncing motor 50, the gap betweenthe stopper springs 220 a-220 d may also be determined, assuming theultrasonically vibrating motor 50 runs at the full maximum speed v_(max)in between the stopper springs 220 a-220 d.

FIG. 8A depicts the intended haptic velocity profile as a function ofposition. The ultrasonically vibrating motor 50 may be intended to runat maximum speed v_(max) (both forward and reverse) in between hittingthe springs at ±s. The turning points may be at ±x_(max) which are alsolabeled as (h) and (c) on FIGS. 8A and 8B. FIG. 8B depicts theultrasonically vibrating motor command signal as a function of time. Thebouncing haptic frequency may be the maximum frequency that can beobtained from the system, which is the scenario in this Example I.Variable bouncing frequency operation will be discussed in Example II.

In FIG. 8B, the drive signal is shown as “full duty cycle,” whichcorresponds to the maximum commanded velocity. In some embodiments, fora more cost-effective electrical driver, the ultrasonically vibratingmotor 50 may be driven or switched between two voltage levels (e.g., ONor OFF) at the actuators' ultrasonic resonant frequency. In order tovary speed, because of the fixed driving voltages and simple ON or OFFswitching, another option may be to change the duty cycle of the motordrive signals. Duty cycle is the proportion of time ON versus time OFFof the driving signal where a 50% proportion corresponds to “full dutycycle” and 0% proportion corresponds to zero signal. In this example,the command signal of the processor 70 is converted to a duty cyclevalue in the PWM generator 80 that is switched by the driver 30. Whenthe duty cycle is maximized as in the case in FIG. 8B, theultrasonically vibrating motor 50 may run at the fastest stable speedv_(max) (at no load condition). When the duty cycle is 0%, the speed maybe 0. When the duty cycle is in between 0% and 50%, the ultrasonicallyvibrating motor 50 may run at a reduced stable motor speed. The exactrelationship between duty cycle and motor stable speed may not be linearand may need to be calibrated.

FIGS. 9A, 9B, and 9C depict the haptic displacement, velocity,acceleration of the ultrasonically vibrating motor 50 as a function oftime in a simulated Example I. In particular, FIGS. 9A-9C assume thatthe ultrasonically vibrating motor 50 in Example I has a maximum speedof v_(max)=0.75 m/s. Example I assumes that motor 50 can reach itsmaximum speed (starting from zero speed) using one quarter of a periodcorresponding to the maximum bouncing haptic frequency. In particular,FIGS. 9A-9C assume that the motor 50 has a maximum bouncing hapticfrequency of 300 Hz. The motor mass is 0.0012 kg. The estimatedcorresponding force F required is:F=Mass×Acceleration=0.0012 kg×[0.75 m/s]/[1/(300 Hz)/4]=1.08 N.

This estimated force calculation may be slightly affected by thestiffness of stopper springs 220 a-220 d as well as by the distancebetween stopper spring pairs 220 a-220 b and 220 c-220 d. While thebouncing time at both ends of the path is small, it is not negligible;hence there will be a slight variation in the requisite force that maybe factored into the estimation. Therefore, for example, in thesimulation corresponding to FIGS. 9A-9C, a force of 1.25 N was used.

As will be discussed in Example II, assuming the same motor parametersbut applying the intended haptic velocity profile of FIG. 10A andvelocity command signal of FIG. 10B, the ultrasonically vibrating motor50 may lower the bouncing haptic frequency to 200 Hz, as shown in FIGS.11A-11C.

Example III, on the other hand, will demonstrate a scenario where thedrive force of motor 50 is not large enough to reach its maximum speedusing one quarter of a period corresponding to the maximum bouncinghaptic frequency.

EXAMPLE II Variable Bouncing Haptic Frequency

One effective way to obtain a lower bouncing haptic frequency (longerperiod) of the ultrasonically vibrating motor 50, while stillmaintaining the maximum acceleration of the ultrasonically vibratingmotor 50 (at the turning of the motor 50 when compressing the stoppersprings to the maximum deflection), may be to reduce the commandedvelocity for the first half of the travel bouncing in between the twosprings. The intended motor velocity profile is depicted in FIG. 10A,and the corresponding velocity command signal as a function of time isshown in FIG. 10B. With reference to both FIGS. 10A and 10B, theultrasonically vibrating motor 50 may first be driven with a reducedduty cycle to move at a reduced speed of βv_(max) (section (j)-(a))towards the forward stopper spring. It may be projected at position αsor point (a) that the speed needs to increase; thus, the speed maysubsequently be increased to v_(max), hitting the forward spring atposition s or point (b). Correspondingly, the command signal for section(a)-(b) is full duty cycle. The command signal may maintain the fullduty cycle, until the forward spring is fully compressed, and theultrasonically vibrating motor 50 may begin to reverse direction atposition x_(max) or point (c). When the ultrasonically vibrating motor50 reverses direction (v=0), the command signal may also invert themotor drive signal phase (direction) to full duty cycle in reverse. Themotor speed may gradually reach −v_(max) at about leaving the forwardspring at position s or point (d). At point (d), the motor speed mayneed to slow down, and the ultrasonically vibrating motor 50 may becommanded with a reduced duty cycle to move at a reduced speed of−βv_(max). At position as or point (e), the motor speed may have alreadyslowed down to −βv_(max), and the ultrasonically vibrating motor 50 maystill be driven with the reduced duty cycle to maintain this speed toposition −αs or point (f), where it may be projected to increase speed(in magnitude) here. At point (f), the motor drive signal may switch tofull duty cycle in reverse. The motor speed may gradually reach−v_(max), hitting the reverse spring at position −s or point (g). Thedrive signal may maintain at the full duty cycle in reverse, until thereverse spring is fully compressed and the ultrasonically vibratingmotor 50 begins to reverse direction at position −x_(max) or point (h).When the ultrasonically vibrating motor 50 reverses direction (v=0) toforward, the drive signal may also reverse to full duty cycle forward.The motor speed may gradually reach v_(max) at about leaving the reversespring at position −s or point (i). At point (i), the motor speed mayneed to slow down, and the ultrasonically vibrating motor 50 may becommanded with a reduced duty cycle to move at a reduced speed ofβv_(max). At position −αs or point (j), the speed may be reduced toβv_(max) and the ultrasonically vibrating motor 50 may still becommanded with the reduced duty cycle forward to maintain this speed topoint (a). Then the full cycle may begin and repeat itself.

The targeted bouncing haptic frequency (which is lower than the maximumbouncing haptic frequency in Example I) may determine the parameters αand β. It should be noted that Example I is a special instance ofExample II, where α approaches 1 and β approaches 1. The lowest bouncingfrequency may be limited by how low the velocity (βv_(max)) may bereduced at the mid-way section (j)-(a) or section (e)-(f), which may bestrongly determined by the drive force. The reason for this is becausehow fast the speed can be changed during the sections (a)-(b), (d)-(e),(f)-(g), and (i)-(j) strongly depends on the drive force. When the driveforce is large enough, the velocity at the mid-way may reach zero, and,therefore, a zero haptic frequency of the bouncing may be obtained.FIGS. 11A-11C show the haptic displacement, velocity, and accelerationof the ultrasonically vibrating motor 50 as a function of time for asimilar system as in FIGS. 9A-9C, except with a velocity profile asshown in FIG. 10A and the velocity command signal as shown in FIG. 10B.Note that the same maximum haptic acceleration as shown in FIG. 9C mayalmost be maintained.

EXAMPLE III Maximizing Bouncing Haptic Frequency [Small Drive Force]

When the drive force is small, the rate of velocity change(acceleration) is limited, and the lower limit for the bouncing hapticfrequency is limited. When the drive force is low, a more effective wayto reduce the bouncing haptic frequency may be to increase the gapbetween the two stopper springs, while maintaining the same maximumdriving velocity in between the bouncing.

When changing the gap between the two stopper springs is not available,the ultrasonically vibrating motor 50 essentially operates as in ExampleI, i.e., at a fixed haptic frequency (i.e., variable haptic frequencyoperation as proposed in Example II is not available, due to the smalldrive force). Because the driving force is small, during the start up,there are a few bounces that may be necessary to bring the speed inbetween the bouncing to the maximum allowed. FIGS. 12A-12C depicts thehaptic displacement, velocity, and acceleration of the ultrasonicallyvibrating motor 50 as a function of time for a similar system as inFIGS. 9A-9C, except with a 10 times smaller drive force of 0.125 N.After a brief startup, the maximum velocity and maximum hapticacceleration may still be achieved (or almost achieved) with the help ofaccumulation of energy during the first several cycles of the bouncing.

In these embodiments, stopper springs 220 a-220 d may enable a verysmall package (also smaller driver force) to obtain the maximum speedand maximum acceleration; the stopper springs 220 a-220 d may provideforces and corresponding haptic accelerations (at the maximumdeflection) more than twenty-five times the drive force of theultrasonically vibrating motor 50. Even for a large drive force system,the stopper springs 220 a-220 d may still be useful in reducing thesize, although perhaps not as effective as in lower drive force systems.In some embodiments, the stopper springs 220 a-220 d may not be verylossy. In some embodiments, the stopper springs 220 a-220 d may beelastic springs.

FIG. 13A is an exemplary method for driving the haptic actuatorapparatus 10 in FIG. 1, where an accelerometer is used. Referring toFIG. 13A, in order to achieve a certain haptic feeling (e.g., certainfrequency and a certain maximum acceleration), the frequency for thecommand signal may be set to the input or target haptic frequency. Theparameters α and β may be predetermined based upon the frequency inputand the nominal system values for the spring constant, moving mass, andthe maximum velocity at the drive voltage level. (For a fixed-frequencyoperation, α and β may both be set to 1, which yields the scenariodescribed in either Example I or Example III.) Here, the maximumvelocity is actually a maximum velocity that corresponds to a maximumcommand signal that corresponds to a certain predefined motor drive dutycycle that is slightly less than 100% duty cycle. It may be assumed thatthere may be some slight variation (for example, manufacturingvariations) in these system parameters that may cause the maximumacceleration to be unequal to the targeted one. Under that assumption,the v_(max) may be adjusted by changing the command signal which adjuststhe motor drive duty cycle above or below the pre-defined duty cycle,depending upon whether the a_(max) measured from the accelerometer isbelow or above the targeted a_(max), respectively. This closed-loopalgorithm may self-adjust the haptic a_(max) to the targeted haptica_(max) very quickly.

If a position encoder is used instead of the accelerometer, a similardriving method as that in FIG. 13A may be used, except that the targetedhaptic a_(max) may not be measured directly. Rather, it may beinterpreted by the position encoder and the time spent in the turning at−x_(max) (from most negative position to −s) and x_(max) (from mostpositive position to s). This driving method is shown in the flowdiagram in FIG. 13B. An interpreted acceleration may be noisy and maynot be as accurate as one directly measured; thus using an accelerometermay be a preferred sensing method if an accurate acceleration isrequired.

Without sensors, the system may approximately generate hapticaccelerations and frequencies based on the nominal values of the systemparameters. Thus, the maximum haptic accelerations and frequencies mayhave a range of values due to manufacturing tolerances.

Having thus described the basic concept of the invention, it will berather apparent to those skilled in the art that the foregoing detaileddisclosure is intended to be presented by way of example only, and isnot limiting. Various alterations, improvements, and modifications willoccur and are intended to those skilled in the art, though not expresslystated herein. These alterations, improvements, and modifications areintended to be suggested hereby, and are within the spirit and scope ofthe invention. For example, based upon various design andelectro-mechanical parameters, rails 205-206, stopper springs 220 a-220d, sensor 40, and ultrasonically vibrating motor 50 may be located atother positions in various embodiments of the haptic actuators describedabove. Two or more components of the above-described haptic actuatorapparatuses may be integrated or be made parts of an integrated circuitchip. Further, alterations in electrical and mechanical components maybe realized by interchanging and/or adding electrical connections andcomponents for mechanical connections or components and vice-versa, asand when appropriate without departing from the scope of the variousexemplary aspects of the technology as described above. Additionally,the recited order of processing elements or sequences, or the use ofnumbers, letters, or other designations therefore, is not intended tolimit the claimed processes to any order except as may be specified inthe claims. Accordingly, the invention may be limited only by thefollowing claims and equivalents thereto.

What is claimed is:
 1. A haptic actuator apparatus comprising: anultrasonically vibrating motor; and a housing of the ultrasonicallyvibrating motor, the housing comprising: a guide structure coupled tothe ultrasonically vibrating motor, the guide structure configured todefine at least one path of motion of the ultrasonically vibratingmotor; and at least one spring coupled to the guide structure andarranged to delimit the at least one path of motion of theultrasonically vibrating motor and to generate human-detectiblevibrations in response to an impact with the ultrasonically vibratingmotor.
 2. The haptic actuator apparatus as set forth in claim 1, whereinthe guide structure comprises an upper rail and a bottom rail, andwherein the at least one path of motion of the ultrasonically vibratingmotor is substantially parallel to the upper rail and the bottom rail.3. The haptic actuator apparatus as set forth in claim 1, wherein the atleast one spring is further arranged to slow, stop, or reverse a motionof the ultrasonically vibrating motor.
 4. The haptic actuator apparatusas set forth in claim 1, wherein the ultrasonically vibrating motorcomprises at least one piezoelectric element.
 5. The haptic actuatorapparatus as set forth in claim 4, wherein the at least onepiezoelectric element generates ultrasonic vibrations in planes paralleland orthogonal to the at least one path of motion, and wherein theultrasonic vibrations are substantially ninety degrees out of phase. 6.The haptic actuator apparatus as set forth in claim 1, wherein thehousing further comprises a sensor configured to measure a location,velocity, or acceleration of the ultrasonically vibrating motor.
 7. Thehaptic actuator apparatus as set forth in claim 1, wherein the housingfurther comprises a driver configured to provide one or more signals forenergizing the ultrasonically vibrating motor to generate ultrasonicvibrations accelerating the ultrasonically vibrating motor along the atleast one path of motion.
 8. The haptic actuator apparatus as set forthin claim 7, wherein the driver comprises one or more half bridge drivecircuits and digital control logic.
 9. The haptic actuator apparatus asset forth in claim 7, wherein the driver comprises one or more fullbridge drive circuits and digital control logic.
 10. The haptic actuatorapparatus as set forth in claim 7, wherein the driver is furtherconfigured to change a phase and an amplitude of the ultrasonicvibrations, thereby reversing a direction of the ultrasonicallyvibrating motor and changing a magnitude of a force generated by theultrasonically vibrating motor.
 11. The haptic actuator apparatus as setforth in claim 10, wherein a timing of the change of the phase and theamplitude of the ultrasonic vibrations is based on at least one of astiffness of the at least one spring, a mass of the ultrasonicallyvibrating motor, or the force generated by the ultrasonically vibratingmotor.
 12. The haptic actuator apparatus as set forth in claim 10,wherein a timing of the change of the phase and the amplitude of theultrasonic vibrations is based on a measurement of a sensor coupled toeither the ultrasonically vibrating motor or the housing, wherein thesensor is configured to measure a location, a velocity, or anacceleration of either the ultrasonically vibrating motor or thehousing.
 13. The haptic actuator apparatus as set forth in claim 12,wherein the human-detectible vibrations are generated at a predeterminedfrequency and acceleration based on the timing.
 14. A method of making ahaptic actuator apparatus, the method comprising: providing anultrasonically vibrating motor; coupling a guide structure to theultrasonically vibrating motor, the guide structure configured to defineat least one path of motion of the ultrasonically vibrating motor; andcoupling at least one spring to the guide structure, the at least onespring being arranged to delimit the at least one path of motion of theultrasonically vibrating motor and to generate human-detectiblevibrations in response to an impact with the ultrasonically vibratingmotor.
 15. The method as set forth in claim 14, wherein the guidestructure comprises an upper rail and a bottom rail, and wherein the atleast one path of motion of the ultrasonically vibrating motor issubstantially parallel to the upper rail and the bottom rail.
 16. Themethod as set forth in claim 14, wherein the at least one spring isfurther arranged to slow, stop, or reverse a motion of theultrasonically vibrating motor.
 17. The method as set forth in claim 14,wherein the ultrasonically vibrating motor comprises at least onepiezoelectric element.
 18. The method as set forth in claim 17, whereinthe at least one piezoelectric element generates ultrasonic vibrationsin planes parallel and orthgonal to the at least one path of motion, andwherein the ultrasonic vibrations are substantially ninety degrees outof phase.
 19. The method as set forth in claim 14, the method furthercomprising: providing a sensor configured to measure a location,velocity, or acceleration of the ultrasonically vibrating motor.
 20. Themethod as set forth in claim 14, the method further comprising:providing a driver configured to provide one or more signals forenergizing the ultrasonically vibrating motor to generate ultrasonicvibrations accelerating the ultrasonically vibrating motor along the atleast one path of motion.
 21. The method as set forth in claim 20,wherein the driver comprises one or more half bridge drive circuits anddigital control logic.
 22. The method as set forth in claim 20, whereinthe driver comprises one or more full bridge drive circuits and digitalcontrol logic.
 23. The method as set forth in claim 20, wherein thedriver is further configured to change a phase and an amplitude of theultrasonic vibrations, thereby reversing a direction of theultrasonically vibrating motor and changing a magnitude of a forcegenerated by the ultrasonically vibrating motor.
 24. The method as setforth in claim 23, wherein a timing of the change of the phase and theamplitude of the ultrasonic vibrations is based on at least one of astiffness of the at least one spring, mass of the ultrasonicallyvibrating motor, or the force generated by the ultrasonically vibratingmotor.
 25. The method as set forth in claim 23, wherein a timing of thechange of the phase and the amplitude of the ultrasonic vibrations isbased on a measurement of a sensor coupled to either the ultrasonicallyvibrating motor or the housing, wherein the sensor is configured tomeasure a location, a velocity, or an acceleration of either theultrasonically vibrating motor or the housing.
 26. The method as setforth in claim 25, wherein the human-detectible vibrations are generatedat a predetermined frequency and acceleration based on the timing.